CN105856207B - A kind of slave arm is arranged symmetrically the transfer robot that the free degree can be reconstructed - Google Patents
A kind of slave arm is arranged symmetrically the transfer robot that the free degree can be reconstructed Download PDFInfo
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- CN105856207B CN105856207B CN201610474390.5A CN201610474390A CN105856207B CN 105856207 B CN105856207 B CN 105856207B CN 201610474390 A CN201610474390 A CN 201610474390A CN 105856207 B CN105856207 B CN 105856207B
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- arm
- side chain
- lining frame
- master arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
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Abstract
The present invention discloses a kind of slave arm and is arranged symmetrically the transfer robot that the free degree can be reconstructed, and belongs to robotic technology field.The robot includes frame, three side chains of moving platform and drive device；Each side chain includes big master arm, small master arm, active arm link, lining frame and slave arm；Big one end of master arm is connected with the output shaft of drive device, and its other end is connected with articulated position in the middle part of lining frame；Small master arm one end is connected with the output shaft of drive device, and its other end is hinged and connected by the upper end of active arm link and lining frame；The upper end of slave arm is hinged to be arranged symmetrically and is connected with the bottom of lining frame and the end articulated position of big master arm respectively, and the lower end of slave arm is connected with moving platform.Robot provided by the present invention, lining frame bottom hinge position axle center can be made by control and whether big master arm end hinge position axle center is concentric robot is mutually switched between Three Degree Of Freedom and six degree of freedom, the flexibility of mechanism is effectively increased, carrying demand can be better adapted to.
Description
Technical field：
The invention belongs to robotic technology field, and in particular to what a kind of slave arm was arranged symmetrically that the free degree can reconstruct removes
Transport robot.
Background technology：
In the automatic production line of the industries such as light industry, medicine, food and electronics, such as sort, pack, encapsulate, particularly
It is strong in order to mitigate human labour in this repetition, uninteresting, the dangerous especially prominent work such as material carrying, lathe loading and unloading
Degree, improves operating efficiency, generally requires to dispose the Work machine people of repetitive operation in space in flow chart.Instantly lead
The parallel robot of stream is generally the robot of Three Degree Of Freedom or four-degree-of-freedom, the motion underaction of its movable platform, work
Space is often the little mushroom-shaped space of a thickness, and the Three dimensional rotation scope of end piece is general only at 60 degree or so.Remove
Beyond this, the parallel robot of Three Degree Of Freedom or four-degree-of-freedom is difficult to undertake such as welding complex work, its scope applied
It is smaller.And existing robot is difficult to be met according to different working environment and operating mode to adjust oneself geometric configuration rapidly
Different work requirements.
The content of the invention：
The purpose of the present invention is precisely in order to overcome above-mentioned deficiency of the prior art to be arranged symmetrically certainly there is provided a kind of slave arm
By spending the transfer robot that can be reconstructed, the robot mechanism is a kind of robot mechanism for realizing material carrying.
The transfer robot that a kind of slave arm provided by the present invention is arranged symmetrically the free degree and can reconstructed includes machine
Frame 4, moving platform 3, the first side chain 12, the second side chain 13, the 3rd side chain 14 and drive device；First side chain 12, second
The side chain 14 of chain 13 and the 3rd is distributed in the frame 4, phase between first side chain 12, the second side chain 13 and the 3rd side chain 14
Every 120 degree, first side chain 12 include big master arm 1, small master arm 6, active arm link 7, left lining frame 2A, right lining frame 2B,
First slave arm 8A and the second slave arm 8B, upper end, bottom, the middle part of the left lining frame 2A and right lining frame 2B are respectively equipped with
Hinge position；The big master arm 1, small master arm 6, active arm link 7 and left lining frame 2A connect to form parallel four by kinematic pair
Side shape structure, so as to ensure that the pose accuracy of mechanism.
The left lining frame 2A is with the right symmetrical hinge arrangements of lining frame 2B in the both sides of the big middle part hinge position of master arm 1, institute
The upper end that left lining frame 2A is stated with the right lining frame 2B is connected by axle close-fitting, adds the symmetry and stability of mechanism.
One end of the big master arm 1 is connected with the second drive device 5B output shaft, and the big middle part of master arm 1 is hinged
The other end of the position close to the big master arm 1.One end of the small master arm 6 is connected with first driving means 5A output shaft,
The other end of the small master arm 6 and one end of the active arm link 7 are hinged by ball pivot, the active arm link 7 it is another
One end and the upper end of the left lining frame 2A are hinged by ball pivot.
The upper end of the first slave arm 8A is articulated with the hinge position of the left lining frame 2A bottoms, described by ball pivot
Two slave arm 8B upper end is articulated with the end hinge position of the big master arm 1, the first slave arm 8A and by ball pivot
Two slave arm 8B lower end is hinged by ball pivot with the moving platform 3 respectively.
Slave arm lower end in second side chain 13 is hinged and connected by Hooke's hinge 11 with the moving platform 3, and described
Other components in two side chains 13 set identical with first side chain 12；The component and structure of 3rd side chain 14 are and institute
State that the first side chain 12 is identical, first side chain 12, the second side chain 13 and the big master arm 1 in the 3rd side chain 14 and small master
Swing arm 6 is installed with one heart.
The present invention has following technical characterstic：
1st, big master arm of the invention with small master arm is concentric installs, while small master arm, lining frame, active arm link three
Keeping parallelism, so that big master arm, small master arm, active arm link, the bar of space five of lining frame one parallel closed loop of formation
Mechanism.From axially, big master arm, small master arm, active arm link, lining frame form a parallelogram sturcutre.Meanwhile, this
Three side chain upper ends of invention are connected simultaneously with frame, and lower end is connected with moving platform simultaneously, so as to constitute a parallel manipulator
People's structure, the parallel institution causes Robot Stiffness big, and bearing capacity is strong, and speed is fast.
2nd, pass through and control the small master arm of driving to drive left lining frame to rotate so that left lining frame bottom articulated position axle center and big
The concentric Bian Keshigai robots in master arm end articulated position axle center are adjusted to three translation robots.Because now the first side chain
On two slave arms, big master arm and moving platform constitute formed on parallel-crank mechanism, and the second side chain flat
Row quadrilateral structure, so that moving platform rotational freedom is limited, so that the robot only has three translational degree of freedom.Work as control
The small master arm of system driving make it that left lining frame bottom articulated position axle center and big master arm end articulated position axle center be not concentric
When, six-DOF robot is just can be changed into, according to need of work so as to controlling to reach different position and posture.
3rd, robot of the present invention can adjust the geometric configuration of oneself rapidly according to different working environment and operating mode, from
And the demand of different operating situation is tackled, and the robot has the features such as rigidity is high, speed is fast and flexible.
Brief description of the drawings：
Fig. 1 is the structural representation of transfer robot of the present invention；
Fig. 2 is one of part-structure schematic diagram in transfer robot of the present invention；
Fig. 3 is two of part-structure schematic diagram in transfer robot of the present invention；
Fig. 4 is three of part-structure schematic diagram in transfer robot of the present invention；
Fig. 5 is the structural representation of the space five-rod of parallel closed loop on each side chain of transfer robot of the present invention；
Fig. 6 is structural scheme of mechanism when transfer robot of the present invention develops into Three Degree Of Freedom.
In figure：1：Big master arm；2A：Left lining frame；2B：Right lining frame；3：Moving platform；4：Frame；5A：First driving means；
5B：Second drive device；5C：3rd drive device；5D：Four-drive device；6：Small master arm；7：Active arm link；8A：The
One slave arm；8B：Second slave arm；9：Reductor；10：Ball pivot；11：Hooke's hinge；12：First side chain；13：Second side chain；14：
3rd side chain.
Embodiment：
The invention will be further described below in conjunction with the accompanying drawings：
A kind of slave arm that the present invention is provided is arranged symmetrically the transfer robot that the free degree can be reconstructed, and the robot three is certainly
By degree six degree of freedom restructural, the robot includes frame 4, moving platform 3, three side chains and drive device, and three side chains are distributed in
In frame, 120 degree are separated by between each side chain；Drive device is constituted by motor with reductor 9.Each side chain includes big active
Arm 1, small master arm 6, active arm link 7, left lining frame 2A, right lining frame 2B, the first slave arm 8A and the second slave arm 8B；Lining frame
Upper end, bottom, middle part are all respectively equipped with hinge position, and major master arms 1, small master arm 6 are installed with one heart.
From axially, the big master arm 1, small master arm 6, active arm link 7 and lining frame form a parallelogram,
It ensure that the position and attitude precision of mechanism.One end of big master arm 1 and the second drive device 5B's is defeated on first side chain 12
Shaft is connected, and the other end of big master arm 1 passes through hinge with left lining frame 2A and right lining frame 2B middle part on first side chain 12
It is connected.Small one end of master arm 6 is connected with first driving means 5A output shaft, and the other end and the master arm of small master arm 6 connect
Bar 7 is hinged by ball pivot, and the other end of active arm link 7 is hinged and connected with left lining frame 2A upper ends by ball pivot.The left lining frame
2A is with the right symmetrical hinge arrangements of lining frame 2B in the big middle part articulated position both sides of master arm 1, left lining frame 2A and right lining frame 2B upper end
Portion is connected by axle close-fitting, adds the symmetry and stability of mechanism.
The upper end of the first slave arm 8A is articulated with left lining frame 2A bottoms hinge position by ball pivot, and described second is driven
Arm 8B upper end is articulated with the end hinge position of big master arm 1, the first slave arm 8A and the second slave arm by ball pivot 10
8B lower end is hinged by ball pivot with moving platform 3 respectively.Second side chain 13 only has the lower end of slave arm and the hinge of moving platform 3
Connect position different, be to be hinged and connected respectively by Hooke's hinge 11 with moving platform 3, other mechanisms and component arrangement with the first side chain 12
It is identical.Component and the component arrangement of 3rd side chain 14 are identical with the first side chain 12.The moving platform 3 passes through side chain and machine
The formation parallel closed loop structure of frame 4, and driven by side chain.
The big master arm of the present invention with small master arm is concentric installs, while small master arm, both lining frames keeping parallelism.So as to
So that big master arm 1, small master arm 6, active arm link 7, the space five-rod of lining frame one parallel closed loop of formation.From axial direction
See, the big master arm 1, small master arm 6, active arm link 7 and lining frame one parallelogram sturcutre of formation, i.e., such as Fig. 5 institutes
The parallelogram ABCD shown.Meanwhile, three side chain upper ends of the invention are connected simultaneously with frame, lower end and while and moving platform
3 are connected, so as to constitute a parallel robot structure, the parallel-connection structure causes Robot Stiffness big, and bearing capacity is strong, speed
It hurry up.
One end of the big master arm 1 is connected with the second drive device 5B output shaft, its other end and left lining frame 2A and
It is connected in the middle part of right lining frame 2B by hinge.Small one end of master arm 6 is connected with first driving means 5A output shaft, small master arm
6 other end is hinged with active arm link 7 by ball pivot, and the other end of active arm link 7 passes through ball pivot with left lining frame 2A upper ends
It is hinged and connected.The left lining frame 2A is with the right symmetrical hinge arrangements of lining frame 2B in the big middle part articulated position both sides of master arm 1, left lining frame
2A is connected with right lining frame 2B upper end by axle close-fitting, adds the symmetry and stability of mechanism.First slave arm
8A upper end is articulated with left lining frame 2A bottoms hinge position by ball pivot, and the upper end of the second slave arm 8B is hinged by ball pivot
In the end hinge position of big master arm 1, the first slave arm 8A and the second slave arm 8B lower end are respectively by ball pivot with moving
Platform 3 is hinged.
By controlling to drive small master arm 6 to drive left lining frame 2A to rotate so that left lining frame 2A bottoms articulated position axle center
Three translation DELTA robots are adjusted to the big concentric Bian Keshigai robots in end articulated position axle center of master arm 1.Because this
First slave arm 8A, the second slave arm 8B, big master arm 1 constitute parallel four with moving platform 3 on Shi Suoshu the first side chain 12
The parallelogram knot formed on Bian Xing mechanisms, i.e., parallelogram sturcutre EFGH as shown in Figure 6, and the second side chain 13
Structure is so as to limit three rotational freedoms of moving platform, so that the robot only has three translational degree of freedom.When control is driven
Move small master arm 6 and make it that left lining frame 2A bottoms articulated position axle center and the end articulated position axle center of big master arm 1 be not concentric
When, six-DOF robot is just can be changed into, according to need of work so as to controlling to reach different position and posture.
As shown in figure 1, the drive device uses the type of drive of motor reducer.Certainly, in the specific implementation, adopt
With it is other any one can realize that the structure type of same movement function is all possible as type of drive.It is same in order to reach
Purpose, can also provide a rotational freedom using torque motor driving for connected master arm.Shape is applied at certain
Under condition, it would however also be possible to employ the type of drive of linear electric motors, an one-movement-freedom-degree is provided for connected master arm.Certainly,
In the specific implementation, use it is other any one can realize the structure type of same movement function as type of drive and be all can be with
's.
Schematical above that the present invention and embodiments thereof are described, the description does not have restricted, institute in accompanying drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So, if the common skill of this area
Art personnel are enlightened by it, without departing from the spirit of the invention, without creatively designing and the technical scheme
Similar frame mode and embodiment, all should belong to protection scope of the present invention.
Claims (1)
1. a kind of slave arm is arranged symmetrically the transfer robot that the free degree can be reconstructed, it is characterised in that the transfer robot includes
Frame (4), moving platform (3), the first side chain (12), the second side chain (13), the 3rd side chain (14) and drive device；Described first
Chain (12), the second side chain (13) and the 3rd side chain (14) are distributed in the frame (4), first side chain (12), second
It is separated by 120 degree between chain (13) and the 3rd side chain (14), first side chain (12) includes big master arm (1), small master arm
(6), active arm link (7), left lining frame (2A), right lining frame (2B), the first slave arm (8A) and the second slave arm (8B), the left side
Upper end, bottom, the middle part of lining frame (2A) and right lining frame (2B) are respectively equipped with hinge position；The big master arm (1), small active
Arm (6), active arm link (7) and left lining frame (2A) connect to form parallelogram sturcutre by kinematic pair；The left lining frame
(2A) and the both sides of the symmetrical hinge arrangement of right lining frame (2B) hinge position in the middle part of the big master arm (1), the left lining frame (2A)
It is connected with the upper end of the right lining frame (2B) by axle close-fitting；One end of the big master arm (1) and the second drive device
The output shaft of (5B) is connected, the other end of the hinge position close to the big master arm (1) in the middle part of the big master arm (1)；It is described small
One end of master arm (6) is connected with the output shaft of first driving means (5A), the other end and the master of the small master arm (6)
One end of swing arm connecting rod (7) is hinged by ball pivot, the other end of the active arm link (7) and the upper end of the left lining frame (2A)
It is hinged by ball pivot；The upper end of first slave arm (8A) is articulated with being hinged for left lining frame (2A) bottom by ball pivot
Position, the upper end of second slave arm (8B) is articulated with the end hinge position of the big master arm (1), described first by ball pivot
The lower end of slave arm (8A) and the second slave arm (8B) is hinged by ball pivot with the moving platform (3) respectively；Second side chain
(13) the slave arm lower end in is hinged and connected by Hooke's hinge with the moving platform (3), other in second side chain (13)
Component sets identical with first side chain (12)；The component and structure of 3rd side chain (14) with first side chain
(12) it is identical, first side chain (12), the second side chain (13) and the big master arm (1) in the 3rd side chain (14) and small master
Swing arm (6) is installed with one heart.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610474390.5A CN105856207B (en) | 2016-06-22 | 2016-06-22 | A kind of slave arm is arranged symmetrically the transfer robot that the free degree can be reconstructed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610474390.5A CN105856207B (en) | 2016-06-22 | 2016-06-22 | A kind of slave arm is arranged symmetrically the transfer robot that the free degree can be reconstructed |
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| CN105856207A CN105856207A (en) | 2016-08-17 |
| CN105856207B true CN105856207B (en) | 2017-10-13 |
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| CN106737600B (en) * | 2017-01-16 | 2019-05-07 | 安徽工业大学 | A kind of seven freedom transfer robot containing ball-screw moving platform |
| CN106625606B (en) * | 2017-01-16 | 2019-01-22 | 安徽工业大学 | A kind of seven freedom transfer robot that slave arm is arranged symmetrically |
| CN107901029B (en) * | 2017-12-29 | 2024-04-16 | 勃肯特(余姚)机器人技术有限公司 | Six-axis parallel mechanism and robot |
| CN108381523A (en) * | 2018-04-03 | 2018-08-10 | 安徽海思达机器人有限公司 | A kind of parallel robot |
| CN112476412A (en) * | 2020-11-17 | 2021-03-12 | 派罗(廊坊)机器人科技有限公司 | Four-degree-of-freedom robot |
| CN113146589B (en) * | 2021-05-19 | 2023-12-22 | 江苏睿动智能科技有限公司 | Logistics sorting robot with embedded mechanical claw |
| CN114195020A (en) * | 2021-12-15 | 2022-03-18 | 江西农业大学 | Pig transport machinery dies of illness based on parallel mechanism |
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| US4976582A (en) * | 1985-12-16 | 1990-12-11 | Sogeva S.A. | Device for the movement and positioning of an element in space |
| CN101249652A (en) * | 2008-03-28 | 2008-08-27 | 天津大学 | Space three-translational freedom degree parallel connection mechanism with far-rack double lever |
| CN101913146A (en) * | 2010-08-05 | 2010-12-15 | 安徽工业大学 | Concurrent parallelogram-containing three-translational freedom robot mechanism |
| CN101961869A (en) * | 2010-10-13 | 2011-02-02 | 天津大学 | Three-translational-degree-of-freedom robot mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4976582A (en) * | 1985-12-16 | 1990-12-11 | Sogeva S.A. | Device for the movement and positioning of an element in space |
| CN101249652A (en) * | 2008-03-28 | 2008-08-27 | 天津大学 | Space three-translational freedom degree parallel connection mechanism with far-rack double lever |
| CN101913146A (en) * | 2010-08-05 | 2010-12-15 | 安徽工业大学 | Concurrent parallelogram-containing three-translational freedom robot mechanism |
| CN101961869A (en) * | 2010-10-13 | 2011-02-02 | 天津大学 | Three-translational-degree-of-freedom robot mechanism |
| CN103170965A (en) * | 2013-03-13 | 2013-06-26 | 安徽工业大学 | Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod |
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| CN105856207A (en) | 2016-08-17 |
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